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Mecanum and Omni Kinematic and Force Analysis
by: Ether
Mecanum and Omni wheel kinematic and force analysis and programming. Omni vs mecanum force and kinematic comparison. Bump-free mecanum roller profile.
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-----------------Mecanum Kinematic Analysis---------------------------
Mecanum Kinematic Analysis 100531.pdf (60.3 KB)
Given a desired vehicle motion, shows how to calculate
the necessary mecanum wheel speeds to achieve that motion.
--------------Mecanum Force Vector Analysis--------------------------
mecanum_force_vector_analysis.pdf (104 KB)
explains the forces and torques acting on a mecanum wheel,
and why a mecanum vehicle has less traction
----------Mecanum Programming: Single and Double Joystick------------
mec or omni w gyro 1-26-2011.pdf (35.9 KB)
--------------Halo Auto-Rotate (Halo-AR) Driver interface--------------
A single 2-axis joystick does field-centric control of forward/reverse
and strafe right/left motion, while the robot automatically and
simultaneously rotates to face the direction it is commanded.
mec gyro follower 6-10-2013b.zip (26.6 KB)
----------------Omni vs Mecanum Forces and Kinematics-----------------
omni vs mec forces 100627_.pdf (18.4 KB)
------------------Omni Rotation Calculator---------------------------
omniCalculator_2013-11-13.zip (64.6 KB)
Calculates the required speeds of each of the 4 omni wheels to achieve
rotation about an arbitrary center of rotation (which may be located
outside the robot frame).
-------------Omni rotation derivation of equations-----------------
omniEquations_2013-11-15.zip (60.8 KB)
shows how the equations used in the omni rotation calculator were derived.
--------------- āBump-Freeā Mecanum Roller Design------------------------
how to profile a mecanum roller so that it is ābump-freeā,
ie it conforms to the circular circumference of the wheel
equations for ābump-freeā mecanum roller profile RevC:
mecanum ābumplessā roller profile RevC.pdf (22.2 KB)
bump-free mecanum roller equations (alternate derivation):
bump-free mecanum roller equations (alternate derivation).zip (62.9 KB)
Win32 ābump-freeā mecanum roller profile calculator:
profXY.zip (25 KB)
mecanum roller design calculator:
PROF16.zip (7.81 KB)
parabolic profile roller projection to XY plane forms circular arc:
parabola projection.zip (59.4 KB)
roller profile parabola vs ellipse comparison:
roller profile parabola vs ellipse.pdf (9.99 KB)
errata & updates 100731b.txt (3.23 KB)
mecanum programming Rev C.zip (2.21 KB)
mecanum gyro revB.pdf (15 KB)
atan2.zip (2.29 KB)
mec X & O rect & square.pdf (19 KB)
mec or omni w gyro 1-21-2011.pdf (34.4 KB)
theta3.pdf (8.24 KB)
Kiwi Omniwheel Inverse Kinematics.pdf (27 KB)
swerve kinematics and programming.pdf (22.8 KB)